Neural Network Based Trajectory Tracking Control for Intelligent Pneumatic Servo Systems

Cho, Seung Ho Research Institute of Science and Technology HONGI 2005 Hongik Journal of Science and Technology Vol.9 No.-

This paper proposes a neural network based trajectory tracking control scheme for intelligent pneumatic servo systems. The PID controllers are currently widely used in industrial applications because they are simple, cheap and show good performance. However, it is limited in some applications where the nonlinear effect is dominant. Pneumatic systems have inherent nonlinearities such as compressibility of air and nonlinear frictions present in cylinders. A neural network is combined with PID control to compensate for these nonlinearities. A trajectory tracking control experiment using the proposed control scheme has been performed and a significant reduction in tracking error is achieved.

Simplified Effective Compressive Strengths of Columns with Intervening Floor Slabs

Seung?Ho Choi,Jin?Ha Hwang,Sun?Jin Han,Hae?Chang Cho,Jae Hyun Kim,Kang Su Kim 한국콘크리트학회 2020 International Journal of Concrete Structures and M Vol.14 No.5

The current design codes discuss the effective compressive strengths of columns, which reflect a decrease in load transfer performance that can occur when columns and slabs have different concrete compressive strengths. The effective compressive strength of a column increases as it is confined by the slab, and the design codes mandate three different effective compressive strengths for interior columns (confinement on four sides), exterior columns (confinement on three sides), and corner columns (confinement on two sides). For both corner and exterior columns, the confinement effect of the slab is significantly smaller than that for the interior column, and there is a more marked decrease in load transfer performance. However, there is still a lack of theoretical studies investigating the effective compressive strengths of the corner and exterior columns. Therefore, based on the analysis model established in previous research, this study has proposed an equation for calculating the effective compressive strengths of the corner, exterior and isolated columns without any confinement effects of the slab. In addition, axial loading tests of isolated columns were conducted and the proposed equation was verified.

40세 이하 관상동맥 질환자에서 장기적 임상 관찰

이승욱,정명호,박종철,박형욱,조상희,김원,김계훈,이상현,강경태,조장현,김남호,김건형,안영근,조정관,박종춘,강정채 全南大醫大 2001 전남의대학술지 Vol.37 No.2

서울의 Penicillinase Producing Neisseria gonorrhoeae 발생빈도(1998)

김재홍,김준호,반재용,이정우,황성주,정준규,정성태,강진문,조흔정,홍창의,정혜신,이한승,김이선,이봉길,이종호,선영우,한기덕,윤성필,이성훈,안종성,박석범,문승현,조항래,김형섭,류지호,황재영,박준홍,손상욱 한양대학교 의과대학 2001 한양의대 학술지 Vol.21 No.1

In recent years, gonorrhea has been pandemic and remains one of the most common STDs in the world, especially in developing countries. For the detection of a more effective therapeutic regimen and assessing the prevalence of Penicillinase Producing Neisseria gonorrhoeae(PPNG), we have been trying to study the patients who have visited the Venereal Disease Clinic of Choong-Ku Public Health Center in Seoul since 1980 by menas of the chromogenic cephalosporin method. In 1998, 93 strians of N. genorrhoeae were isolated, among which 60(64.5%) were PPNG. The prevalence of PPNG in Seoul, which had been decreased to 39% in 1996 after a peak of 74.3% in 1993, is increased to 64.5% in 1998.

정신분열병에 대한 리스페리돈의 효과 및 안정성

이민수,김용구,김영훈,연병길,오병훈,윤도준,윤진상,이철,정희연,강병조,김광수,김동언,김명정,김상훈,김희철,나철,노승호,민경준,박기창,박두병,백기청,백인호,손봉기,손진욱,양병환,양창국,우행원,이정호,이종범,이홍식,임기영,전태연,정영조,정영철,정인과,정인원,지익성,채정호,한상익,한선호,한진희,서광윤 大韓神經精神醫學會 1998 신경정신의학 Vol.37 No.1

연구목적 : 본 시험의 목적은 임상시험 시작전에 연구자들을 대상으로 PANSS Workshop을 통하여 PANSS, ESRS에 대한 국내에서의 표준화 작업을 구축하고 새로운 정신병 치료제인 리스페리돈의 효과와 안정성을 재확인하여 리스페리돈 사용에 대한 적정화를 이루는데 있다. 연구방법 : 1996년 4월부터 1996년 9월까지 국내 39개 대학병원 정신과에 입원중인 혹은 증상이 악화되어 입원하는 정신분열병 환자 377명을 대상으로 다시설 개방 연구를 시행하였다. 1주일간의 약물 배설기간을 가진후, 리스페리돈을 8주간 투여하였고, 기준점, 1주, 2주, 4주, 그리고 8주후에 평가되었다. 용량은 제1일에는 리스페리돈 1mg씩 1일 2회, 제2일에는 2mg씩 1일 2회, 제3∼7일에는 3mg씩 1일 2회 투여하였다. 이후 환자의 임상상태에 따라 임의로 증량할 수 있으며, 최대 일일 16mg을 초과하지 않도록 하였다. 추체외로 증상을 조절하기 위한 투약을 허용하였다. 임상증상 및 부작용의 평가는 PANSS(Positive and Negative Syndrome Scale), CGI(Clinical Global Impression) 그리고 ESRS(Extrapyramidal Symptom Rating Scale)을 사용하였다. 연구결과 : 377명중 343명(91%)이 8주간의 연구를 완결하였다. 치료 종결시점인 8주후 PANSS 총점수가 20% 이상 호전된 경우를 약물 반응군으로 정의할때, 약물반응군은 81.3%였다. 리스페리돈에 반응하는 예측인자로는 발병연령, 이전의 입원 횟수, 유병기간이 관련 있었다. 리스페리돈은 1주후부터 PANSS양성, 음성, 및 일반정신병리 점수상에 유의한 호전을 보여 효과가 빨랐다. CGI의 경우도 기준점에 비해 1주후부터 유의한 감소를 나타내었다. ESRS의 경우, 파킨슨 평가점수는 기준점과 비교해 투여 1주, 2주, 4주후 유의하게 증가되었다가 8주후 기준점과 차이가 없었다. Dystonia 평가점수는 1주후만 유의한 증가를 보였으며, dyskinesia 평가점수는 유의한 차이가 없었다. 혈압, 맥박수의 생명징후 및 일반 혈액학 검사, 생화학적 검사, 심전도 검사에서 유의한 변화는 없었다. 결 론 : 이상의 다시설 개방 임상 연구를 통해 리스페리돈은 정신분열병 환자에서 양성증상뿐만 아니라 음성증상 및 전반적인 증상에도 효과적인 것으로 사료된다. 보다 명확한 평가를 위해서는 다른 항정신병약물과의 이중맹검 연구가 필요할 것으로 생각되며, 또한 장기적 치료에 대한 평가도 함께 이루어져야 하겠다. Objective : The purpose of this study was to investigate the efficacy and safety of risperidone in the treatment of Korean schizophrenic patients. Method : This multicenter open study included 377 schizophrenic patients drawn from 39 university hospitals. After a wash-out period of 1 week, the schizophrenic patients were treated with risperidone for 8 weeks and evaluated at 5 points ; at baseline, and 1, 2, 4 and 8 weeks of treatment. The dose was increased from 2mg/day(1mg twice daily) to 6mg/day(3mg twice daily) during the first week and adjusted to a maximum of 16mg/day over the next 7 weeks according to the patient's clinical response. Medication to control extrapyramidal symptoms was permitted. The psychiatric and neurological status of the patients was assessed by PANSS, CGI, and ESRS scales. Results : 343(91%) of 377 patients completed the 8-week trial period. Clinical improvement, as defined by a 20% or more reduction in total PANSS score at end point, was shown by 81.3% of patients. The predictors of response to risperidone were associated older age, shorter duration of illness, fewer previous hospitalization. Risperidone had rapid onset of action ; a significant decrease of the total PANSS and three PANSS factor(positive, negative, general), and CGI was already noticed at the end of first week. For the ESRS, parkinsonism rating scores were significantly increased until week 4 comparing with baseline. Dystonia rating scores were significantly increased until week 1, and dyskinesia rating scores were not significantly changed during the study. Laboratory parameters including vital sign, EKG, hematological, and biochemical values showed no significant changes during the trial. Conclusions : This study suggests that risperidone is generally safe and effective against both the positive and negative symptoms in our group of patients.

유압 서어보 시스템의 위치제어를 위한 축소차수 관측기의 실현화 연구

趙勝鎬,金勳鍾 弘益大學校 1987 弘大論叢 Vol.19 No.2

The reduced third-order observer was constructed using the linearized fourth-order hydraulic servosystem and it was exploited to estimate the state vaviables which can not be measured directly. Use was made of the estimated state variables including the measuned piston displacement in feedback control of the nonlinear hydraulic servosystem. Computer simulation showed that the nonlinear hydraulic servosystem was sensitive to the observer gain. Moreover the increase in coulomb friction and mass load resulted in the more sluggish response.

Rhino XR-Ⅲ 로보트의 경로계획에 대한 연구

趙勝鎬,李周憲 弘益大學校 科學技術硏究所 1993 科學技術硏究論文集 Vol.3 No.-

To investigate how the robot traces the predetermined path, Cartesian trajectory, 4-3-4 trajectory, 3-5-3 trajectory, cycloid trajectory planning were applied to the Rhino XR-Ⅲ robot system. The trajectories drawn directly by robot, travelling times and jointangle variations were examined for those trajectory plannings. In the case of single path, all trajectories reached about 97% to destination position along the predetermined path. The travelling time of 4-3-4 trajectory was shorter than any other trajectories. On account of round-off error, structual allowances, influence of dynamics and friction force, differences between real trajectories and theoretical trajectories occurred.

와전류검사에 의해 검출된 증기발생기 전열관의 균열 특성

조찬희,남민우,김영호,양승한,이희종 한국비파괴검사학회 2004 학술대회 논문집 Vol.- No.-

The flaws detected at the steam generator tube of the Nuclear Power Plant are the wear indications by anti-vibration bars and circumferential cracks at the top of the tubesheet. It is easy to detect and size wear indications. Also the wear indications are commonly found at the steam generator tubes. However, the steam generator tube which includes crack indication is plugged because it is very difficult to predict the growth rate and the sizing error is high. The motorized rotating pancake coil has been used for the detection of circumferential crack since it is not possible to detect using the conventional bobbin probe. This paper describes the characteristics for the circumferential crack at the steam generator tubes of the Korean Standard Nuclear Power Plants.

비유피-4 정(염산프로피베린 20㎎)에 대한 건일염산프로피베린 정의 생물학적동등성

조혜영,박은자,강현아,백승희,김세미,박찬호,오인준,문재동,이용복 한국약제학회 2004 Journal of Pharmaceutical Investigation Vol.34 No.5

The purpose of the present study was to evaluate the bioequivalence of two propiverine hydrochloride tablets. BUP-4 (Jeil Pharm. Co., Ltd.) and Kuhnil Propiverine Hydrochloride (Kuhnil Pharm. Co., Ltd.), according to the guidelines of the Korea Food and Drug Administration (KFDA). The propiverine release from the two propiverine hydrochloride formulations in vitro was tested using KP Ⅷ Apparatus Ⅱ method with a variety of dissolution media (pH 1.2, 4.0, 6.8 buffer solutions, water and blend of polysorbate 80 into pH 6.8). Twenty six healthy male subjects, 23.73 ± 2.79 years in age and 67.04 ± 7.93 kg in body weight, were divided into two groups and a randomized 2 x 2 cross-over study was employed. After one tablet containing 20 mg as propiverine hydrochloride was orally administered, blood was taken at predetermined time intervals and the concentrations of propiverine in serum were determined using HPLC method with UV detector. The dis-solution profiles of two formulations were similar at all dissolution media. Besides, the pharmacokinetic parameters such as AUC" C _(max) and T _(max) were calculated and ANOVA test was utilized for the statistical analysis of the parameters using logarithmically transformed AUC, C_(max), and untransformed T_(max). The results showed that the differences between two formulations based on the BUP-4 were 0.17%, 7.98% and 4.55% for AUC,, C_(max), and respectively. There were no sequence effects between two formulations in these parameters. The 90% confidence intervals using logarithmically trans-formed data were within the acceptance range of log(0.8) to log(1.25) (e.g., log(0.88)-log(l .12) and log(0.90)-log(l.15) for AUC, and _(max), respectively). Thus, the criteria of the KFDA bioequivalence guideline were satisfied, indicating Kuhnil Propiverine Hydrochloride tablet was bioequivalent to BUP-4 tablet.

2차 선형 관측기에 의한 진동현상을 나타내는 유압 서어보 시스템의 최적제어

趙勝鎬 弘益大學校 1986 弘大論叢 Vol.18 No.2

The hydraulic servosystem with the inherent nonlinearities was modelled as the second order linear hydraulic servosystem. Assuming that it was a plant, the second order linear observer was constructed. The system to be controlled was the vibrational nonlinear hydraulic servosystem under proportional control. The response of it when it was compensated by the estimated states of the second order linear observer was studied through analog computer simulation and digital computer simulation. Computer simulation showed that the system which had shown vibrational phenomenon under proportional control became stable with the same maximum acceleration and velocity that it had started under proportional control.